/*
 * File: J_la_T03_q2.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 23-Apr-2025 08:29:49
 */

/* Include Files */
#include "J_la_T03_q2.h"
#include <math.h>

/* Function Definitions */
/*
 * J_LA_T03_Q2
 *     U32 = J_LA_T03_Q2(IN1,IN2)
 *
 * Arguments    : const double in1[5]
 *                const double in2[5]
 *                double u32[16]
 * Return Type  : void
 */
void J_la_T03_q2(const double in1[5], const double in2[5], double u32[16])
{
  double t10;
  double t11;
  double t12;
  double t13;
  double t14;
  double t15;
  double t16;
  double t16_tmp;
  double t18;
  double t2;
  double t20;
  double t21;
  double t25;
  double t26;
  double t26_tmp;
  double t28;
  double t3;
  double t34;
  double t35;
  double t4;
  double t5;
  double t6;
  double t7;
  double t8;
  double t9;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     09-Apr-2025 18:11:46 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in2[2]);
  t5 = cos(in1[0]);
  t6 = cos(in1[1]);
  t7 = cos(in1[2]);
  t8 = sin(in2[0]);
  t9 = sin(in2[1]);
  t10 = sin(in2[2]);
  t11 = sin(in1[0]);
  t12 = sin(in1[1]);
  t13 = sin(in1[2]);
  t14 = t5 * t6;
  t15 = t5 * t12;
  t16_tmp = t2 * t6;
  t16 = t16_tmp * t9;
  t18 = t3 * t6 * t11;
  t5 = t6 * t8;
  t20 = t5 * t9;
  t21 = t2 * t11 * t12;
  t25 = t8 * t11 * t12;
  t26_tmp = t2 * t3;
  t26 = t26_tmp * t14;
  t6 = t3 * t8;
  t28 = t6 * t14;
  t34 = t15 + t18;
  t35 = t14 + -(t3 * t11 * t12);
  t2 = (t2 * t9 * t12 + t5 * t11) + t6 * t15;
  t14 = (t16 + t28) + -t25;
  t5 = (t16_tmp * t11 + t26_tmp * t15) + -(t8 * t9 * t12);
  t6 = (t20 + t21) + -t26;
  t3 = t4 * t13;
  u32[0] = -t7 * t34 - t3 * t35;
  u32[1] = -t7 * t6 - t3 * t5;
  u32[2] = t7 * t14 - t3 * t2;
  u32[3] = 0.0;
  t3 = t4 * t7;
  u32[4] = t13 * t34 - t3 * t35;
  u32[5] = t13 * t6 - t3 * t5;
  u32[6] = -t13 * t14 - t3 * t2;
  u32[7] = 0.0;
  t3 = t10 * t35;
  u32[8] = t3;
  t6 = t10 * t5;
  u32[9] = t6;
  t5 = t10 * t2;
  u32[10] = t5;
  u32[11] = 0.0;
  u32[12] = (t15 * -0.01491 - t18 * 0.01491) + t3 * 0.27898;
  u32[13] = ((t20 * -0.01491 - t21 * 0.01491) + t26 * 0.01491) + t6 * 0.27898;
  u32[14] = ((t16 * 0.01491 - t25 * 0.01491) + t28 * 0.01491) + t5 * 0.27898;
  u32[15] = 0.0;
}

/*
 * File trailer for J_la_T03_q2.c
 *
 * [EOF]
 */
